Current sensor - Revision history

P0rc0 r0ss0: Redirecting to Sensors/Current

2011-12-18T09:46:54Z

← Older revision		Revision as of 03:46, 18 December 2011
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	~~It is very easy to get the Paparazzi system working with a current sensor.~~		#REDIRECT [[Sensors/Current]]

	~~Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout~~ [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [~~http:~~/~~/www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.~~

	~~== Hardware ==~~

	~~[[Image:Example.jpg\|thumb\|right\|float\|~~Current ~~sensor connected to the TWOG v1]]~~
	Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

	On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

	On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg\|thumb\|right\|float\|Novak 100A current sensor]]

	~~== Airframe integration ==~~

	~~In the BAT section of the airframe file add these lines:~~

	~~<define name="ADC_CHANNEL_CURRENT" value="ADC_3" />~~
	~~<define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>~~

	~~and remove the line:~~
	~~<define name="MILLIAMP_AT_FULL_THROTTLE" value="12000" unit="mA"/>~~

	The correct multiplier for the raw measurement conversion depends on the current sensor. The Sparkfun sensor returns a linear voltage of 0 V - 3.3 V and at 90.15 A it reaches the maximum of 3.3 V. The TWOG v1 or Tiny v2 have a A/D converter with 10-bit precision (1024 different values) to represent the voltage. So you can calculate the multiplier with the following formula:

	~~'''1000 / precision * A_at_max_voltage'''~~

	~~For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037~~

	~~For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"~~


	~~In the makefile section, -DUSE_ADC_3 (or -DUSE_ADC_4) must be added (-DUSE_ADC_0, -DUSE_ADC_1 and -DUSE_ADC_2 are used for the IR sensors):~~

	~~ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3~~
	~~ap.srcs += $(SRC_ARCH)/adc_hw.c~~

	~~== Display on Ground Control Station (GCS) ==~~

	~~Use the Messages application to show it.~~

	~~The total energy consumed during the flight (in mAh) is sent in the "BAT" message.~~

	~~The actual current flowing through the sensor (in mA) is sent in the "fbw_status" message.~~

	~~You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.~~

	~~[[Category:Hardware]] [[Category:Software]] [[Category:User_Documentation~~]]

Martinmm at 06:40, 7 September 2011

2011-09-07T06:40:57Z

← Older revision		Revision as of 00:40, 7 September 2011
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	It is very easy to get the Paparazzi system working with a current sensor.		It is very easy to get the Paparazzi system working with a current sensor.

	Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A.		Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755 or ACS715. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A. The smaller and lighter [http://www.pololu.com/catalog/product/1186 Pololu Current Sensor Carrier] is based on the ACS715 with a current of up to 30A.

	== Hardware ==		== Hardware ==

Esden at 00:29, 10 March 2011

2011-03-10T00:29:21Z

← Older revision		Revision as of 18:29, 9 March 2011
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	You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.		You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

			[[Category:Hardware]] [[Category:Software]] [[Category:User_Documentation]]

Markgriffin at 22:04, 13 November 2009

2009-11-13T22:04:14Z

← Older revision		Revision as of 16:04, 13 November 2009
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	On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.		On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

	On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg\|thumb\|right\|float\|Novak current sensor]]		On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg\|thumb\|right\|float\|Novak 100A current sensor]]

	== Airframe integration ==		== Airframe integration ==

Markgriffin at 22:03, 13 November 2009

2009-11-13T22:03:34Z

← Older revision		Revision as of 16:03, 13 November 2009
Line 45:		Line 45:

	You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.		You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

	~~== Current greater than 32 Amperes ==~~

	~~The ''int16'' data type is used to store the current value. This gives a current range of +/- 32.768 Amps.~~

	~~If high-power/large motors are employed, currents can be much larger than this. The current value becomes negative resulting in the "energy"~~
	~~message decreasing (instead of rapidly increasing).~~

	~~To overcome this limitation, the data type can be changed to ''int32'' in the following files:~~
	~~/conf/messages.xml (current => int32)~~
	~~/sw/airborne/main_fbw.c (fbw_current_milliamp => int32_t)~~
	~~/sw/airborne/main_fbw.h (fbw_current_milliamp => int32_t)~~
	~~/sw/airborne/main_ap.c (current => int32_t)~~
	~~/sw/airborne/inter_mcu.h (current => int32_t)~~
	~~The aircraft has to be re-compiled for these changes to take effect.~~

Markgriffin at 16:48, 8 November 2009

2009-11-08T16:48:53Z

← Older revision		Revision as of 10:48, 8 November 2009
Line 50:		Line 50:
	The ''int16'' data type is used to store the current value. This gives a current range of +/- 32.768 Amps.		The ''int16'' data type is used to store the current value. This gives a current range of +/- 32.768 Amps.

	If high-power/large motors are employed, currents can be much larger than this. To overcome this limitation, the data type can be changed to ''int32'' in the following files:		If high-power/large motors are employed, currents can be much larger than this. The current value becomes negative resulting in the "energy"
			message decreasing (instead of rapidly increasing).

			To overcome this limitation, the data type can be changed to ''int32'' in the following files:
	/conf/messages.xml (current => int32)		/conf/messages.xml (current => int32)
	/sw/airborne/main_fbw.c (fbw_current_milliamp => int32_t)		/sw/airborne/main_fbw.c (fbw_current_milliamp => int32_t)

Markgriffin at 16:15, 8 November 2009

2009-11-08T16:15:30Z

← Older revision		Revision as of 10:15, 8 November 2009
Line 6:		Line 6:

	[[Image:Example.jpg\|thumb\|right\|float\|Current sensor connected to the TWOG v1]]		[[Image:Example.jpg\|thumb\|right\|float\|Current sensor connected to the TWOG v1]]
	Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly. A wire is connected to the "VI" pin ~~on the Sparkfun breakout board~~. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, ~~you connect~~ the current sense output wire ("IA" on the Sparkfun sensor) to the ADC_3 (or ADC_4) pin.		Typically, the current sensor is used to measure the current flowing through the main battery (rather than the motor). Connect the + and - pole of the sensor through the battery red lead. The + and - have to be soldered directly.

			On the Sparkfun breakout board, a wire is connected to the "VI" pin. It must have a voltage between 0 and 3.3V. On a TWOG v1 or Tiny v2 board, the current sense output wire ("IA" on the Sparkfun sensor) is connected to the ADC_3 (or ADC_4) pin.

	On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg\|thumb\|right\|float\|Novak current sensor]]		On the Novak Sentry current sensor, the red wire is connected to +5 volts. The black wire is ground. The yellow wire is the output (40mV/amp. 0.6v=0amps, 5.0v=110amps) and is connected to the ADC_3 (or ADC_4) pin. [[Image:NovakCurrentSensor.jpg\|thumb\|right\|float\|Novak current sensor]]

Markgriffin at 16:12, 8 November 2009

2009-11-08T16:12:08Z

← Older revision		Revision as of 10:12, 8 November 2009
Line 1:		Line 1:
	It is very easy to get the Paparazzi system working with a current sensor.		It is very easy to get the Paparazzi system working with a current sensor.

	Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor] or a linear hall-effect device such as the Allegro ACS755. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A.		Examples are the one from Sparkfun (AttoPilot Voltage and Current Sense Breakout [http://www.sparkfun.com/commerce/product_info.php?products_id=9028 Current sensor]) or a linear hall-effect device such as the Allegro ACS755. The [http://www.teamnovak.com/products/data_logger/2000_sentry/index.html Novak Sentry current sensor] is based on the ACS755LCB-100 hall-effect sensor and has a range of 100A.

	== Hardware ==		== Hardware ==
Line 49:		Line 49:

	If high-power/large motors are employed, currents can be much larger than this. To overcome this limitation, the data type can be changed to ''int32'' in the following files:		If high-power/large motors are employed, currents can be much larger than this. To overcome this limitation, the data type can be changed to ''int32'' in the following files:
	/conf/messages.xml		/conf/messages.xml (current => int32)
	/sw/airborne/main_fbw.c		/sw/airborne/main_fbw.c (fbw_current_milliamp => int32_t)
	/sw/airborne/main_fbw.h		/sw/airborne/main_fbw.h (fbw_current_milliamp => int32_t)
	/sw/airborne/main_ap.c		/sw/airborne/main_ap.c (current => int32_t)
	/sw/airborne/inter_mcu.h		/sw/airborne/inter_mcu.h (current => int32_t)
	The aircraft has to be re-compiled for these changes to take effect.		The aircraft has to be re-compiled for these changes to take effect.

Markgriffin at 16:05, 8 November 2009

2009-11-08T16:05:46Z

← Older revision		Revision as of 10:05, 8 November 2009
Line 43:		Line 43:

	You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.		You can display the energy or current on the GCS by just dragging and dropping them on the 2d map.

			== Current greater than 32 Amperes ==

			The ''int16'' data type is used to store the current value. This gives a current range of +/- 32.768 Amps.

			If high-power/large motors are employed, currents can be much larger than this. To overcome this limitation, the data type can be changed to ''int32'' in the following files:
			/conf/messages.xml
			/sw/airborne/main_fbw.c
			/sw/airborne/main_fbw.h
			/sw/airborne/main_ap.c
			/sw/airborne/inter_mcu.h
			The aircraft has to be re-compiled for these changes to take effect.

Markgriffin at 13:04, 25 October 2009

2009-10-25T13:04:17Z

← Older revision		Revision as of 07:04, 25 October 2009
Line 26:		Line 26:
	For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037		For the Sparkfun sensor, the precision is 1024 and A_at_max_voltage is 90.15 => 1000/1024*90.15 = 88.037

	For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-~~186~~))"		For the ACS755LCB-100 sensor, there is a 0.6 volts offset. At 3.3v, the current is 67.5A. The formula is thus: value="(80.55*(adc-185))"